/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "tim.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
#include "IIC.h"
#include "mpu6050.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.h"
#include "OLED.h"
//#include "HC_SR04.h"
#include "Motor.h"
#include "Encoder.h"
#include "PID.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
//extern float Distance;                 //前方障碍物距离
extern int Encoder_Left, Encoder_Right;//两个编码器数值
extern float Pitch, Roll, Yaw;         //三个欧拉角
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void Encoder_Read(void)
{
  //HAL_Delay(10);
  Encoder_Left = Encoder_GetSpeed(&htim2);  //读取左编码器的值
  Encoder_Right = -Encoder_GetSpeed(&htim4);//读取右编码器的值
}

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
		    
//  short gyrox, gyroy, gyroz;		
  unsigned char MPUSingle = 1;
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_TIM2_Init();
  MX_TIM4_Init();
  MX_TIM1_Init();
  MX_TIM3_Init();
  /* USER CODE BEGIN 2 */
  OLED_Init();
  MPU_Init();			                                //MPU6050初始化
  MPUSingle = mpu_dmp_init();	                    //MPU6050的dmp库的初始化
  if(MPUSingle == 0) OLED_ShowString(0, 0, "MPU_OK:", 12, 0);
  else OLED_ShowString(0, 0, "MPU_Err:", 12, 0);  //只有当返回值是0的时候才意味着dmp库初始化成功
  HAL_Delay(500);
  OLED_Clear();
  HAL_NVIC_SetPriority(EXTI9_5_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);               //开启MPU6050的INT引脚中断，在其中断函数内进行PID控制                    
  
  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);       //定时器1通道4作用于电机1产生PWM
  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);       //定时器1通道1作用于电机1产生PWM
  
  HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL); //编码器模式，开启定时器，用于读取霍尔编码器1的数值
  HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL); //编码器模式，开启定时器，用于读取霍尔编码器2的数值
  Motor_SetSpeed(0, 0);                           //编码器电机设定初始速度为0                     
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  OLED_ShowString(0, 0, "Encoder1:", 12, 0);
  OLED_ShowString(0, 1, "Encoder2:", 12, 0);      
  OLED_ShowString(0, 2, "Roll:", 12, 0);
  OLED_ShowString(0, 3, "Yaw:", 12, 0);           //OLED初始化显示
  while (1)
  {                                 
    OLED_Showdecimal(40, 2, Roll, 2, 1, 12, 0);
    OLED_Showdecimal(40, 3, Yaw, 2, 1, 12, 0);
    
    Encoder_Read();                               //每隔10ms读取1次编码器数据
    OLED_ShowSignedNum(60, 0, Encoder_Left, 4, 12, 0);
    OLED_ShowSignedNum(60, 1, Encoder_Right, 4, 12, 0);             
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
